SCHUNK PGN-plus 40 User instructions

Translation of the original manual
2-Finger Parallel Gripper
PGN-plus 40 - 380
Assembly and Operating Manual
Superior Clamping and Gripping

Imprint
2 03.04|PGN-plus 40 - 380|en
Imprint
Copyright:
This manual remains the copyrighted property of SCHUNK GmbH & Co. KG. It is solely
supplied to our customers and operators of our products and forms part of the module.
This documentation may not be duplicated or made accessible to third parties, in particu-
lar competitive companies,
without our prior permission.
Technical changes:
We reserve the right to make alterations for the purpose of technical improvement.
Document number: 0389296
Edition: 03.04 |03/04/2013|en
© SCHUNK GmbH & Co. KG
All rights reserved.
Dear customer,
congratulation on choosing a SCHUNK product. By choosing SCHUNK, you have opted for
the highest precision,
top quality and best service.
You are going to increase the process reliability of your production and achieve best
machining results – to the customer's complete satisfaction.
SCHUNK products are inspiring.
Our detailed assembly and operation manual will support you.
Do you have further questions? You may contact us at any time – even after purchase.
Kindest Regards
Yours SCHUNK GmbH & Co. KG
Spann- und Greiftechnik
Bahnhofstr. 106 – 134
D-74348 Lauffen/Neckar
Tel. [phone]
Fax [phone]
[email protected]
www.schunk.com

Table of contents
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3
Table of contents
1 About this manual .................................................................................................... 5
1.1 Warnings................................................................................................................... 5
1.1.1 Signal words .................................................................................................. 5
1.1.2 Symbols ......................................................................................................... 5
1.2 Variants..................................................................................................................... 6
1.3 Applicable documents ............................................................................................. 6
2 Basic safety notes .................................................................................................... 7
2.1 Intended use............................................................................................................. 7
2.2 Not intended use ...................................................................................................... 7
2.3 Environmental and operating conditions................................................................. 7
2.4 Product safety........................................................................................................... 8
2.4.1 Protective equipment ................................................................................... 8
2.4.2 Demands on the top jaws ............................................................................. 8
2.4.3 Constructional changes, attachments, or modifications.............................. 8
2.5 Personnel qualification............................................................................................. 9
2.6 Using personal protective equipment...................................................................... 9
2.7 Notes on particular risks........................................................................................... 9
2.7.1 Variant gripping force maintenance .......................................................... 10
3 Warranty................................................................................................................. 11
4 Scope of delivery ..................................................................................................... 11
5 Accessories.............................................................................................................. 12
5.1 Sensors.................................................................................................................... 12
6 Technical data ......................................................................................................... 13
7 Assembly................................................................................................................. 14
7.1 Mechanical connection .......................................................................................... 14
7.2 Air connection ....................................................................................................... 15
7.3 Sensors.................................................................................................................... 17
7.3.1 Magnetic switch MMS 22 / RMS 22............................................................ 17
7.3.2 MMS-P programmable magnetic switch .................................................... 20
7.3.3 FPS flexible position sensor......................................................................... 24
7.3.4 Inductive proximity switch IN 80 ................................................................ 26
8 Troubleshooting ...................................................................................................... 29
8.1 Module does not move? ........................................................................................ 29
8.2 The module does not travel through the entire stroke? ....................................... 29
8.3 Module opens or closes abruptly? ......................................................................... 30

Table of contents
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8.4 The gripping force drops? ...................................................................................... 30
8.5 Module does not achieve the opening and closing times? ................................... 30
9 Maintenance and Care ............................................................................................ 31
9.1 Notes....................................................................................................................... 31
9.2 Maintenance and lubrication intervals .................................................................. 32
9.3 Lubricants/Lubrication points (basic lubrication) ................................................. 32
9.4 Disassembly of the module .................................................................................... 33
9.4.1 Variant without maintenance of gripping force ......................................... 33
9.4.2 Variant with maintenance of gripping force (O.D. gripping)...................... 33
9.4.3 Variant with maintenance of gripping force (I.D. gripping)........................ 34
9.4.4 Variant with dust cover............................................................................... 35
9.4.5 Version with power booster cylinder (KVZ) without gripping force........... 35
9.5 Servicing and assembling the module.................................................................... 36
9.5.1 Variant without maintenance of gripping force ......................................... 36
9.5.2 Variant with maintenance of gripping force (O.D. gripping)...................... 37
9.5.3 Variant with maintenance of gripping force (I.D. gripping)........................ 39
9.5.4 Variant with dust cover............................................................................... 39
9.5.5 Variant with power booster cylinder (KVZ) without gripping force ........... 39
9.5.6 Screw tightening torque ............................................................................. 39
9.6 Assembly device cylinder piston with gripping force maintenance ...................... 40
9.6.1 Sizes 40-100................................................................................................. 40
9.6.2 Sizes 125 - 380............................................................................................. 41
10 Assembly drawings.................................................................................................. 43
10.1 Standard ................................................................................................................. 44
10.2 Dust cover............................................................................................................... 45
10.3 Version with power booster cylinder .................................................................... 46
11 Seal kit .................................................................................................................... 47
12 Accessories kit......................................................................................................... 47
13 Translation of original declaration of incorporation................................................. 48

About this manual
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5
About this manual
This instruction is an integral part of the product and contains im-
portant information for a safe and proper assembly, commission-
ing, operation, maintenance and helps for an easier trouble shoot-
ing.
Before using the product, read and note the instruction, especially
the chapter "Basic safety notes".
Warnings
The following signal words and symbols are used to highlight dan-
gers.
Signal words
DANGER Dangers for persons.
Non-compliance will inevitably cause irreversible injury or death.
WARNING Dangers for persons.
Non-compliance may cause irreversible injury or death.
CAUTION Dangers for persons.
Non-observance may cause minor injuries.
NOTICE Information about avoiding material damage
Symbols
Warning about a danger point
Warning about hot surfaces
Warning about dangerous electrical voltage
Warning about hand injuries
General mandatory sign to prevent material damage
Warning about danger when operating in explosion risk areas
1
1.1
1.1.1
1.1.2

About this manual
6 03.04|PGN-plus 40 - 380|en
Variants
This operating manual applies for the following variations
•PGN-plus
•PGN-plus with gripping force maintenance device "O.D. gripping"
•PGN-plus with gripping force maintenance device "I.D. gripping"
•PGN-plus dust protection version
•PGN-plus High-temperature version [HT]
•PGN-plus Force intensified version
•PGN-plus ATEX-Version (EX)
Applicable documents
•General terms of business
•SCHUNK catalog gripping modules
•Assembly and Operating Manuals for sensors
•Calculation program for gripping modules (SSG)
•Supplementary sheet "Installation and operating instructions - EX"
The documents listed up here, can be download on our homepage
www.schunk.com
1.2
1.3

Basic safety notes
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7
Basic safety notes
Intended use
The module was designed to grip and to temporarily and securely
hold workpieces and objects.
The module is intended for installation in a machine/system. The
requirements of the applicable guidelines must be observed and
complied with.
The module may be used only in the context of its defined applica-
tion parameters (6, Page 13).
SCHUNK assumes that application in question was tested with the
calculation program for gripping modules (SSG).
To use this unit as intended, it is also essential to observe the
technical data and installation and operation notes in this manual
and to comply with the maintenance intervals.
Not intended use
It is not an intended use if the module is used, for example, as a
pressing tool, stamping tool, lifting gear, guide for tools, cutting
tool, clamping device or a drilling tool.
Environmental and operating conditions
•Make sure that the module and the top jaws are a sufficient
size for the application.
•Ensure that the environment is clean. Observe the mainten-
ance and lubrication intervals. (9.2, Page 32)
•Make sure that the environment is free from splash water and
vapors as well as from abrasion or processing dust. This ex-
cludes modules that are designed specially for contaminated
environments.
2
2.1
2.2
2.3

Basic safety notes
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Product safety
Dangers arise from the module, if e.g.:
•the module is not used in accordance with its intended purpose.
•the module is not installed or maintained properly.
•the safety and installation notes are not observed.
Avoid any manner of working that may interfere with the function
and operational safety of the module.
Wear protective equipment.
NOTE
More information are contained in the relevant chapters.
Protective equipment
Provide protective equipment per EC Machinery Directive.
Demands on the top jaws
Arrange the top jaws such that when the module is depressurized
it can reach one of the end positions either open or closed and
therefore no residual energy can be released when changing the
top jaws.
Constructional changes, attachments, or modifications
Additional drill holes, threads, or attachments that are not offered
as accessories by SCHUNK may be attached only with permission
of SCHUNK.
2.4
2.4.1
2.4.2
2.4.3

Basic safety notes
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9
Personnel qualification
The assembly, initial commissioning, maintenance, and repair of
the module may be performed only by trained specialist person-
nel. Every person called upon by the operator to work on the
module must have read and understood the complete assembly
and operating manual especially the chapter "Basic safety notes"
(2, Page 7). This applies particularly to personnel only used oc-
casionally, such as maintenance personnel.
Using personal protective equipment
When using this product, observe the relevant industrial safety
regulations and use the personal protective equipment (PPE) re-
quired!
•Use protective gloves, safety shoes and safety goggles.
•Observe safe distances.
•Minimal safety requirements for the use of equipment.
Notes on particular risks
Generally valid:
•Remove the energy supplies before installation, modification,
maintenance, or adjustment work.
•Make sure, that no residual energy remains in the system.
•Do not move parts by hand when the energy supply is con-
nected.
•Do not reach into the open mechanism or the movement area
of the module.
•Perform maintenance, modifications, and additions outside the
danger zone.
•For all work, secure the unit against accidental operation.
•Take a precautionary approach by maintenance and disassembly.
•Only specially trained staff should disassemble the module.
2.5
2.6
2.7

Basic safety notes
10 03.04|PGN-plus 40 - 380|en
WARNING
Risk of injury due to squeezing and bumping during movement
of the gripper jaws and breaking or loosening of the gripper fin-
gers !
WARNING
Risk of injury from objects falling and being ejected
•The danger zone must be surrounded by a safety fence during
operation.
WARNING
While disassembling uncontrollable moves of parts of the grip-
per possible!
Variant gripping force maintenance
WARNING
Risk of injury from objects falling during energy supply failure
Modules with a mechanical gripping force maintenance can, dur-
ing energy supply failure, still move independently in the direc-
tion specified by the mechanical gripping force maintenance.
•Secure the end positions of the module with SCHUNK SDV-P
pressure maintenance valves.
WARNING
Risk of injury due to residual energy in the gripper because of
gripping force maintenance by springs!
2.7.1

Scope of delivery
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11
Warranty
The warranty is valid for 36 months from the delivery date to the
production facility under the following conditions:
•Intended use in 1-shift operation
•Observe the mandatory maintenance and lubrication intervals.
•Observe the environmental and operating conditions.
Parts touching the work piece and wearing parts are not part of
the warranty.
If necessary, check the application with the calculation program
for gripping modules (SSG).
Scope of delivery
The scope of delivery includes:
•2-Finger Parallel Gripper PGN-plus 40-380
in the ordered model.
•Accessory kit
3
4

Accessories
12 03.04|PGN-plus 40 - 380|en
Accessories
A wide range of accessories is available for this module.
For information about which accessories can be used with the ap-
propriate product version ☞catalog.
Sensors
DANGER
Danger of explosion in explosion risk areas!
•Follow the instructions in supplementary sheet "Installation
and operating instructions - EX" for modules in explosion-
resistant versions (EX)!
Overview of the compatible sensors
Designation Type
Inductive proximity switches IN
Magnetic switch MMS
Reed-switch RMS
Flexible Position Sensor FPS
Analog Position Sensor APS
Programmable magnetic switch MMS-P,
MMS 22-PI1,
MMS 22-PI2
•Exact type designation of the compatible sensors see ☞catalog
•If you require further information on sensor operation, contact
your SCHUNK contact person or download information from
our homepage.
•For mounting the sensors, mounting kits are partly necessary.
5
5.1

Technical data
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13
Technical data
Pressure medium compressed air, standard for quality
of the compressed air according to
ISO 8573-1: 6 4 4
Nominal working pressure 6
Min. pressure [bar]
without gripping force maintenance
with gripping force maintenance device
2.5
4
Max. pressure [bar]
without gripping force maintenance
with gripping force maintenance device
Force intensified version
8
6.5
6
Pressure range for sealed air 0.5–1
Noise emission [dB(A)] ≤ 70
Further technical data can be found in the catalog data sheet.
The most recent version applies.
6

Assembly
14 03.04|PGN-plus 40 - 380|en
Assembly
Mechanical connection
DANGER
Danger of explosion in explosion risk areas!
•Follow the instructions in supplementary sheet "Installation
and operating instructions - EX" for modules in explosion-
resistant versions (EX)!
The values relate to the entire bolting surface.
Requirements for levelness of the bolting surface
Diameter [mm] Permissible unevenness [mm]
< 100 < 0.02
> 100 < 0.05
The module can be mounted from the front, from the rear or on
the side.
13
43
2
5
6
Fig. 1
1 Module side mounting 4 centering sleeve
2 Module front mounting 5 top jaws
3 centering sleeve 6 Module rear mounting
7
7.1
Check
the evenness
of the bolting surface
Mounting

Assembly
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15
Mounting 40 50 64 80 100 125 160 200 240 300 380
Thread Ø and max.
insertion depth when
fastening the gripper
from behind
M3
6
deep
M4
11
deep
M5
12
deep
M5
15
deep
M6
14
deep
M8
20
deep
M8
20
deep
M10
20
deep
M12
25
deep
M16
30
deep
M20
35
deep
Thread Ø and max.
insertion depth for fin-
ger fastening
M2.5
6
deep
M3
8
deep
M4
10
deep
M5
10
deep
M6
13
deep
M6
13
deep
M10
17
deep
M12
17
deep
M12
21
deep
M16
27
deep
M20
39
deep
The guide sleeves required for fastening the gripper from the front
and for fixing the finger and gripper are contained in the relevant
accessories kit.
Air connection
NOTICE
The maximum permissible mass per jaw is exceeded:
•Attach flow control couplings to the module.
NOTICE
Observe the requirements for the air supply.
(6, Page 13)"Technical Data"
7.2

Assembly
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Fig. 2 Air connection
1 main connections (hose connection)
(A = open, B = closed)
2 air purge connection
3 hose-free direct connection at the base
(a = open, b = closed)
4 air purge connection
5 hose-free direct connection at the side
(a = open, b = closed)
•Only open the air connections required.
•Seal air connections not required using the locking screws from
the enclosed pack.
•For hose-free direct connections use the O-rings from the en-
closed pack.
•If the maximum permissible finger weight is exceeded a throt-
tle has to be carried out imperatively. The movement has to be
without jerks and bounce.
hose-free
direct connection

Assembly
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17
Sensors
The module is prepared for a number of sensors. Other sensors
can be used with a mounting kit.
•If you require further information on sensor operation, contact
your SCHUNK contact person or download information from
our homepage.
•Technical data of the sensors can be found in the data sheets
(included in the scope of delivery).
Magnetic switch MMS 22 / RMS 22
Fig. 3
NOTICE
Sensor can be damaged during assembly.
Do not exceed the maximum tightening torque of 10 Ncm for the
set screws.
NOTE
Ferromagnetic material changes the switching positions of the
sensor. For example: Adapter plate made of ordinary steel.
At ferromagnetic adapter plates:
•The module must firstly be mounted on the adapter plate
•Then, the positions of the magnetic switch have to be set
The RMS sensors have a larger hysteresis than the MMS sensors.
This means that short gripper strokes may not be able to be moni-
tored with the RMS sensors.
7.3
7.3.1

Assembly
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1
2
3
4
Fig. 4
Gripper open:
1 Set the gripper to the "Open" position
2 Slide the magnetic switch 1 (1) into the groove (4) until it
comes into contact with the housing.
3 Slide the magnetic switch 1 (1) slowly back until it switches.
4 By tightening the set screw (3), fix the magnetic switch 1 (1) in
this position in the groove (4).
5 Test the function by closing the gripper and then opening it
again.
Gripper closed:
1 Set the gripper to the "Closed" position.
2 Slide the magnetic switch 2 (2) into the groove (4) in the direc-
tion of the center of the gripper until it switches.
3 By tightening the set screw (3), fix the magnetic switch 2 (2) in
this position in the groove (4).
4 Test the function by opening the gripper and then closing it
again.
Positioning of the
magnetic switch

Assembly
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19
Part gripped (O.D. gripping):
1 Clamp the part to be gripped.
2 Slide the magnetic switch 2 (2) into the groove (4) in the direc-
tion of the center of the gripper until it switches.
3 By tightening the set screw (3), fix the magnetic switch 2 (2) in
this position in the groove (4).
4 Test the function by opening the gripper and then closing it
again.
Part gripped (I.D. gripping):
1 Clamp the part to be gripped.
2 Slide the magnetic switch 1 (1) into the groove (4) until it
comes into contact with the housing.
3 Slide the magnetic switch 1 (1) slowly back until it switches.
4 By tightening the set screw (3), fix the magnetic switch 1 (1) in
this position in the groove (4).
5 Test the function by closing the gripper and then opening it
again.

Assembly
20 03.04|PGN-plus 40 - 380|en
MMS-P programmable magnetic switch
36 – 40
19.5
8. 9
M2.5
30
L= 1 00
L= 500
2.95
4.4
0.5
1
3456
2
Fig. 5 Magnetic switch (MMS-P 22)
1 mounting screw 4 Teach-button
2 center sensor elements 5 LED display
3 LED display 6 Rips for cable tires
Fig. 6 Connection diagram PNP-4 conductor (MMS-P 22)
Types available for order (see catalog):
•MMS-P 22-S-M8-PNP
•MMSK-P 22-S-PNP
•V2-M8-4-2XM8-3
The MMSK-P 22-S-PNP features a cable with open strands so that
it can be connected by means of terminal contacts.
The V2-M8-4-2XM8-3 distributor is used to convert the 4-pin con-
nector plug of the MMS-P 22-S-M8-PNP sensor to two standard
M8 plugs with 3 pins each.
7.3.2